PrincessPi/Sillyfilly-CAN
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Added built-in HTTP Server

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This commit is contained in:
nopnop2002
2021-07-09 14:43:01 +09:00
parent 52a1ab54a2
commit 298730dbe3
11 changed files with 606 additions and 74 deletions
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main/twai.c
+27 -7
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@@ -22,8 +22,8 @@
static const char *TAG = "TWAI";
extern QueueHandle_t xQueue_http;
//extern QueueHandle_t xQueue_twai_tx;
extern QueueHandle_t xQueue_http_client;
extern QueueHandle_t xQueue_twai_tx;
extern TOPIC_t *publish;
extern int16_t npublish;
@@ -36,9 +36,9 @@ void twai_task(void *pvParameters)
dump_table(publish, npublish);
twai_message_t rx_msg;
twai_message_t tx_msg;
FRAME_t frameBuf;
while (1) {
//esp_err_t ret = twai_receive(&rx_msg, pdMS_TO_TICKS(1));
esp_err_t ret = twai_receive(&rx_msg, pdMS_TO_TICKS(10));
if (ret == ESP_OK) {
ESP_LOGD(TAG,"twai_receive identifier=0x%x flags=0x%x data_length_code=%d",
@@ -49,8 +49,8 @@ void twai_task(void *pvParameters)
ESP_LOGD(TAG, "ext=%x rtr=%x", ext, rtr);
#if CONFIG_ENABLE_PRINT
if (ext == 0) {
printf("Standard ID: 0x%03x ", rx_msg.identifier);
if (ext == STANDARD_FRAME) {
printf("Standard ID: 0x%03x ", rx_msg.identifier);
} else {
printf("Extended ID: 0x%08x", rx_msg.identifier);
}
@@ -73,6 +73,7 @@ void twai_task(void *pvParameters)
ESP_LOGI(TAG, "publish[%d] frame=%d canid=0x%x topic=[%s] topic_len=%d",
index, publish[index].frame, publish[index].canid, publish[index].topic, publish[index].topic_len);
strcpy(frameBuf.topic, publish[index].topic);
frameBuf.command = CMD_RECEIVE;
frameBuf.topic_len = publish[index].topic_len;
frameBuf.canid = rx_msg.identifier;
frameBuf.ext = ext;
@@ -85,20 +86,39 @@ void twai_task(void *pvParameters)
for(int i=0;i<frameBuf.data_len;i++) {
frameBuf.data[i] = rx_msg.data[i];
}
if (xQueueSend(xQueue_http, &frameBuf, portMAX_DELAY) != pdPASS) {
if (xQueueSend(xQueue_http_client, &frameBuf, portMAX_DELAY) != pdPASS) {
ESP_LOGE(TAG, "xQueueSend Fail");
}
}
}
} else if (ret == ESP_ERR_TIMEOUT) {
if (xQueueReceive(xQueue_twai_tx, &tx_msg, 0) == pdTRUE) {
ESP_LOGI(TAG, "tx_msg.identifier=[0x%x] tx_msg.extd=%d", tx_msg.identifier, tx_msg.extd);
twai_status_info_t status_info;
twai_get_status_info(&status_info);
ESP_LOGD(TAG, "status_info.state=%d",status_info.state);
if (status_info.state != TWAI_STATE_RUNNING) {
ESP_LOGE(TAG, "TWAI driver not running %d", status_info.state);
continue;
}
ESP_LOGD(TAG, "status_info.msgs_to_tx=%d",status_info.msgs_to_tx);
ESP_LOGD(TAG, "status_info.msgs_to_rx=%d",status_info.msgs_to_rx);
//esp_err_t ret = twai_transmit(&tx_msg, pdMS_TO_TICKS(10));
esp_err_t ret = twai_transmit(&tx_msg, 0);
if (ret == ESP_OK) {
ESP_LOGI(TAG, "twai_transmit success");
} else {
ESP_LOGE(TAG, "twai_transmit Fail %s", esp_err_to_name(ret));
}
}
} else {
ESP_LOGE(TAG, "twai_receive Fail %s", esp_err_to_name(ret));
}
}
// never reach
// Never reach here
vTaskDelete(NULL);
}